#include "Config.hpp"

//数据使用的已有的值
//相机中13组标定板的位姿，x,y,z，rx,ry,rz,
Mat_<double> targetPose = (cv::Mat_<double>(13, 6) << -0.072944147641399, -0.06687830562048944, 0.4340418493881254, -0.2207496117519063, 0.0256862005614321, 0.1926014162476009,
                           -0.01969337858360518, -0.05095294728651902, 0.3671266719105768, 0.1552099329677287, -0.5763323472739464, 0.09956130526058841,
                           0.1358164536530692, -0.1110802522656379, 0.4001396735998251, -0.04486168331242635, -0.004268942058870162, 0.05290073845562016,
                           0.1360676260120161, -0.002373036366121294, 0.3951670952829301, -0.4359637938379769, 0.00807193982932386, 0.06162504121755787,
                           -0.1047666520352697, -0.01377729010376614, 0.4570029374109721, -0.612072103513551, -0.04939465180949879, -0.1075464055169537,
                           0.02866460103085085, -0.1043911269729344, 0.3879127305077527, 0.3137563103168434, -0.02113958397023016, 0.1311397970432597,
                           0.1122741829392126, 0.001044006395747612, 0.3686697279333643, 0.1607160803445018, 0.2468677059920437, 0.1035103912091547,
                           -0.06079521129779342, -0.02815190820828123, 0.4451740202390909, 0.1280935541917056, -0.2674407142401368, 0.1633865613363686,
                           -0.02475533256363622, -0.06950841248698086, 0.2939836207787282, 0.1260629671933584, -0.2637748974005461, 0.1634102148863728,
                           0.1128618887222624, 0.00117877722121125, 0.3362496409334229, 0.1049541359309871, -0.2754352318773509, 0.4251492928748009,
                           0.1510545750008333, -0.0725019944548204, 0.3369908269102371, 0.2615745097093249, -0.1295598776133405, 0.6974394284203849,
                           0.04885313290076512, -0.06488755216394324, 0.2441532410787161, 0.1998243391807502, -0.04919417529483511, -0.05133193756053007,
                           0.08816140480523708, -0.05549965109057759, 0.3164905645998022, 0.164693654482863, 0.1153894876338608, 0.01455551646362294);

//机械臂末端13组位姿,x,y,z,rx,ry,rz
Mat_<double> gripperPose = (cv::Mat_<double>(13, 6) << -0.3969707, -0.460018, 0.3899877, 90.2261, -168.2015, 89.7748,
                            -0.1870185, -0.6207147, 0.2851157, 57.2636, -190.2034, 80.7958,
                            -0.1569776, -0.510021, 0.3899923, 90.225, -178.2038, 81.7772,
                            -0.1569787, -0.5100215, 0.3299975, 90.2252, -156.205, 81.7762,
                            -0.3369613, -0.4100348, 0.3299969, 90.2264, -146.2071, 71.778,
                            -0.2869552, -0.6100449, 0.4299998, 90.2271, -199.2048, 86.7806,
                            -0.2869478, -0.6600489, 0.4299948, 105.2274, -189.2053, 86.7814,
                            -0.286938, -0.6300559, 0.4299997, 75.2279, -189.2056, 86.783,
                            -0.2869343, -0.5700635, 0.2800084, 75.2291, -189.2055, 86.7835,
                            -0.1669241, -0.5700796, 0.280015, 75.2292, -189.205, 101.7845,
                            -0.236909, -0.4700997, 0.3600046, 87.2295, -196.2063, 118.7868,
                            -0.2369118, -0.6201035, 0.2600001, 87.2297, -192.2087, 75.7896,
                            -0.2468983, -0.620112, 0.359992, 97.2299, -190.2082, 80.7908);
